An approach is provided for representing an aerial route in a three-dimensional (3D) space. The approach, for example, involves determining a root 3D shape encompassing an aerial route through a 3D space. The 3D space is partitioned into a hierarchy of 3D shapes, and the aerial route comprises a list of 3D shape identifiers (IDs) corresponding to the 3D shapes that form the aerial route. The approach also involves recursively comparing a respective 3D shape ID of the root 3D shape or child shapes of the root 3D shape to the list of 3D shape IDs of the aerial route. The approach further involves generating a traversal command list by selectively adding the respective 3D shape ID that matches a 3D shape ID of the aerial route or includes the 3D shape ID as a child 3D shape ID. The approach further involves providing the traversal command list as an output.
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6. The method of claim 1, wherein the corresponding collision probability is included in and determined from the aerial route.
7. The method of claim 1, wherein the output includes a binary encoding of the traversal command list.
8. The method of claim 7, wherein the binary encoding uses a binary representation of one or more traversal instructions included in the traversal command list.
9. The method of claim 1, wherein the 3D shapes in the hierarchy are cube shapes, and the 3D shape IDs are cube IDs.
15. The apparatus of claim 11, wherein the output is used to navigate an aerial vehicle along the aerial route.
Cooperative Patent Classification codes for this invention. Click any code to explore related patents in that topic.
December 10, 2019
August 9, 2022
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